Posts by PnsStarter

Quote

(can't subtract 2**16=2147483648 at once because of maximum integer value..)

Karel has special Constants:

MAXINT +2147483647

MININT -2147483648

I believe you can use them to assign and check values...

Hi hoitzing,

Quote

Short of mapping the 32-bit signed integer to individual DI's and then reconstructing* the value myself..

I think that's the (easiest) way to go..

no GI; just DI-Array[32] --> R[x] e.g. inside BG logic

(there might be other ways too..)

Quote

Is there a file that stores the KAREL positions in a backup?

The Karel-Vars, Positions and other are stored inside ".vr" files.

".sv"-files are (technically) also karel variable files.

A ".vr" file does not need a corresponding ".pc"-karel-program.

best regards

PnsStarter

Hello leidai5,

Quote

As far as I know, the only two ways to change the representation of a PR is either manually on the TP or by doing PR[X]=JPOS

The representation of a Posreg can be changed with a Karel-Prog too.

AND

using a command like

PR[1]= UTOOL[1]

will change the Reprentation to the type "POSITION"

you see something like NX, NY...

..

Hallo,

add :

%ENVIRONMENT REGOPE

It is described quite well in the documentation:

SET_JPOS_REG Built-In Procedure

...

%ENVIRONMENT Group :REGOPE

---

best regards

PnsStarter

Hi,

maybe the PMC function is or was used.

Accessing the (internal)PMC-IO's is done via the "10000++ " ID's.

from PMC pdf:

Quote

DO[10001-10136] K0-16

DO[10137-10160] K900-902

DO[11001-23000] R0-1499

GO[10001-11500] D0-2999

Memory for K, R, D of PMC is assigned to DO, GO of Robot.

This assignment is for compatibility with conventional models.

The assignment for K, R, D is available only for these assignment patterns. Any

other assignment pattern (Ex. Assign K0 to DO[1-8]) is not available.

Display More

best regards

PnsStarter

Quote

So How can I send the file in MD: to FR:?

Setup your FTP-Client to the FR device. At fanuc controllers the default device is md. So you have to configure the remote folder at the ftp-client site. good clients are filezilla or totalcommander

easiest way is to use BG Logic..

Quote from Lazox

Does anyone know if there is a way to modify thoses activeX objects ?

You can't. The activeX controls are like an EXE-file on windows. A binary blob.

The iPendant uses an arm-version of these controls. (On windows it's x86)

Best regards

PnsStarter

Hello,

You should use the "FR"-Device.

fr:

fr:\data\

best regards

PnsStarter

Hi,

Use multiple networks.

Put either Ethernet/IP or vision-process into another sub-net/port.

On R30iB(Plus) controllers, you may be able to use the dedicated fanuc vision port for YOUR vision process.

Best regards

PnsStarter

Hi,

Quote

My question is simple, is it possible to index a system variable

No you can't.

You have to code it by hand with select/case and/or LBL/JMP LBL

e.g.

For [R189:Index]=1 to 255
JMP LBL[R[189]]
...
LBL[1]
$PLST_GPR1[1].$Payload=R[190:Value_Payload]
..
JMP LBL[1000]
...
LBL[255]
$PLST_GPR1[255].$Payload=R[190:Value_Payload]
...
JMP LBL[1000]

LBL[1000]
ENDFOR

you can also use a sub program(with select case inside) for setting vars

e.g.

CALL SET_MY_PAYLOAD(1)

best regards

PnsStarter

Hi i_robot72

in the past I always used the "$MC_PATH" variable for this, which only exists on virtual robots.

You can intercept with Karel if this is present.

But in TP this is not possible.

Since some time I use in TP for this : "$NULL_CYCLE"

On a virtual controller this is normally zero and does not change!!!

On the real controller it changes its value between MinINT and MaxINT.

So you can check this against zero to determine that the controller is virtual.

Best regards

PnsStarter

Quote from dnaumann

Very good point! I'm going to try this on the actual robot and see if it has to do anything with that actually. Because before I remember my bytes being in big-endian format but when running it on the virtual robot it is in little endian which is really weird. But that could account for the wrong end of the information taken. Why would the virtual robot use little endian while the robot pendant itself use big endian?

Yes. it is like you said.

I believe it's because the real controller is based on fanuc's "more unix like" os and/or processor type.

The virtual controller runs "inside"windows X86/64..

Hello,

if you have roboguide installed, check this folder:

"c:\ProgramData\FANUC\FRVRC Media\V9.40\product\gige\"
check the ".cam" files e.g. b_aca1920_48gm.cam --> acA1920-48gm

.. so this is a "compatibility list" for your specific Controller-Version (V9.4,V9.1)

You can also check the FR or MD device at the real controller for ".cam" files

I tried that by myself.

First I borrowed and then bought a camera from a "basler" reseller.

Best regards

PnsStarter

Hi StoopidEngineer,

a lot of people are using ultraedit. I think there are a couple of "highlighters" available.

Or you can use vs code or vs codium . Plugins are available.

But don't expect too much. Fanuc's TP is not very TXT-file-friendly:

   1:  R[50:tmpOVR]=$MCR.$GENOVERRIDE ;
   2:  R[AR[2]]=AR[1]/R[50:tmpOVR]*100;  

- Comments may or may not be shown inside the ls file

- Indirect arguments

- line numbers...

...

best regards

PnsStarter

Hi DZonzi,

yes it is possible.

Use a macro(with a DI to execute)

within your (macro)program use the INC instruction .

..

PROGRAM MACRO_X+

PR[x] = 10,0,0,0,00

PR[y] = LPOS

L PR[y] 20mm/sec Offset PR[X] INC

...

think about safety, frames, feedback etc!!

Hi,

at real robot:

Create a program.

Teach one point at the left side(table surface) in front of the robot.

--> P[1]

Move(instruction) the robot with an offset of 500mm(1000mm) to Y-, measure.(WORLD COORD)

!PR[1]= 0,0,0,0,0,0

!PR[1,Y]= -500

J P[1] 25% fine;

L P[1] 100mm/sec fine Offset PR[1];

Is your measurment result ~500mm ?

No? --> Mastering,Calibration is not correct.

By the way , why did you master the robot?

Best regards

PnsStarter

Hi,

As gpunkt wrote:

Check your tool frame!

best regards

PnsStarter

I believe Background Logic was introduced in

R-J3iC (R30iA) --> V7.x